基于改进双向测距-到达时间差定位算法的超宽带定位系统
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摘要
针对传统无线定位技术在室内定位精度不高的问题,设计实现了一种基于超宽带(UWB)技术的室内定位系统。首先,提出了定位服务器与移动端APP实时交互的系统结构,解决室内移动人员自主定位与导航的问题。其次,在双向测距(TWR)算法中增加一条无线电信息以减小时钟偏移引起的测距误差,从而提高算法性能。最后,将通过到达时间差(TDOA)定位算法得到的双曲面方程组进行线性化处理后结合Jacobi迭代法完成求解,避免了使用标准TDOA定位算法难以直接解算的情况。经测试,该系统在楼道房间等场景中能稳定工作且定位误差控制在30 cm以内,相比基于WiFi、蓝牙等技术的定位系统在定位精度上提高了10倍左右,能够满足在复杂室内环境中的精确移动定位需求。
Aiming at the poor positioning accuracy of traditional wireless indoor positioning technology, an indoor positioning system based on Ultra Wide Band( UWB) technology was designed and implemented. Firstly, to solve the problem of autonomous localization and navigation, the system architecture of real-time interaction between the location server and the mobile terminal APP was proposed. Secondly, a radio message was added to the Two-Way Ranging( TWR) algorithm to reduce the ranging error caused by clock drift, so as to improve the performance of the algorithm. Finally, the hyperboloid equation set achieved by Time Difference Of Arrival( TDOA) positioning algorithm was linearized and then solved by Jacobi iteration method, which avoids the cases that standard TDOA localization algorithm is difficult to directly solve. The test results show that the system based on this method can work stably and control the range of error within 30 cm in the corridor room scene. Compared with the positioning systems based on WiFi and Bluetooth, the positioning accuracy of this system is improved by about 10 times, which can meet the requirement of precise mobile positioning in complex indoor environment.
Aiming at the poor positioning accuracy of traditional wireless indoor positioning technology, an indoor positioning system based on Ultra Wide Band( UWB) technology was designed and implemented. Firstly, to solve the problem of autonomous localization and navigation, the system architecture of real-time interaction between the location server and the mobile terminal APP was proposed. Secondly, a radio message was added to the Two-Way Ranging( TWR) algorithm to reduce the ranging error caused by clock drift, so as to improve the performance of the algorithm. Finally, the hyperboloid equation set achieved by Time Difference Of Arrival( TDOA) positioning algorithm was linearized and then solved by Jacobi iteration method, which avoids the cases that standard TDOA localization algorithm is difficult to directly solve. The test results show that the system based on this method can work stably and control the range of error within 30 cm in the corridor room scene. Compared with the positioning systems based on WiFi and Bluetooth, the positioning accuracy of this system is improved by about 10 times, which can meet the requirement of precise mobile positioning in complex indoor environment.
引文
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[3]KAJIOKA S,MORI T,UCHIYA T,et al.Experiment of indoor position presumption based on RSSI of Bluetooth LE beacon[C]//Proceedings of the 2014 IEEE 3rd Global Conference on Consumer Electronics.Piscataway,NJ:IEEE,2015:337-339.
[4]HUANG C N,CHAN C T.Zig Bee-based indoor location system by k-nearest neighbor algorithm with weighted RSSI[J].Procedia Computer Science,2011,5:58-65.
[5]LINDO A,GARCIA E,URENA J,et al.Multiband waveform design for an ultrasonic indoor positioning system[J].IEEE Sensors Journal,2015,15(12):7190-7199.
[6]李军怀,贾金朋,王怀军,等.基于信号强度差的RFID室内定位研究[J].计算机科学,2015,42(11):154-157.(LI J H,JIA JP,WANG H J,et al.Research on SSD-based RFID indoor location method[J].Computer Science,2015,42(11):154-157.)
[7]SHI G,MING Y.Survey of indoor positioning systems based on Ultra-Wide Band(UWB)technology[M]//Wireless Communications,Networking and Applications.Berlin:Springer,2016:1269-1278.
[8]KREISER D,MARTYNENKO D,KLYMENKO O,et al.Simple and efficient localization method for IR-UWB systems based on twoway ranging[C]//Proceedings of the 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility.Piscataway,NJ:IEEE,2015:1-4.
[9]Deca Wave.DWM1000 datasheet[R].Dublin,Ireland:DecaWave,2016.
[10]Deca Wave.Application note:APS011[R].Dublin,Ireland:Deca Wave,2014.
[11]LIM J M,YOO S H,PARK J K,et al.Error analysis of cooperative positioning system using two-way ranging measurements[C]//Proceedings of the 2014 8th International Conference on Signal Processing and Communication Systems.Piscataway,NJ:IEEE,2014:1-4.
[12]KOLAKOWSKI M,DJAJA-JOSKO V.TDOA-TWR based positioning algorithm for UWB localization system[C]//Proceedings of the 2016 21st International Conference on Microwave,Radar and Wireless Communications.Piscataway,NJ:IEEE,2016:1-4.
[13]蒋康荣.蜂窝网络中基于TDOA的定位算法研究[D].南京:南京邮电大学,2016:25-35.(JIANG K R.Study on positioning algorithms based on TDOA in cellular networks[D].Nanjing:Nanjing University of Posts and Telecommunications,2016:25-35.)
[14]FANG B T.Simple solutions for hyperbolic and related position fixes[J].IEEE Transactions on Aerospace&Electronic Systems,1990,26(5):748-753.
[15]王彪,傅忠谦.基于超宽带技术的TDOA室内三维定位算法研究[J].微型机与应用,2013,32(14):83-86.(WANG B,FU ZQ.The research of TDOA indoor three-dimensional positioning algorithm based on ultra-wideband technology[J].Microcomputer&Its Applications,2013,32(14):83-86.)
[16]FANG X,WEI C.The general modulus-based Jacobi iteration method for linear complementarity problems[J].Filomat,2015,29(8):1821-1830.